Abstract
Dynamic Position (DP) control of ships can be achieved with PI control laws. A ship is a multivariable non-linear plant, but methods available for designing MIMO controllers are limited in comparison with SISO systems. The objective of this paper is to examine the application of a number of different ‘on-line’ multivariable PI tuning methods to the ship control problem. Naturally, off-line methods are also suitable but require greater design and commissioning time to produce controllers possibly only valid at a specified operating point. The investigation is based on a 3 degree-of-freedom ship model provided by Mitsubishi Heavy Industries Ltd., and simulation results are presented to demonstrate the performance and validity of the methods.
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